Abishalini
3247989c52
Add a section on wrappers
2023-12-29 06:19:45 -07:00
Abishalini
ad58a14876
Run pre-commit
2023-12-04 01:59:18 -07:00
Abishalini
af7919e5a0
Add doc on C++ API
2023-12-04 01:51:17 -07:00
Robert Haschke
c605a0059a
Replace namespace robot_[model|state] with moveit::core
2023-05-26 01:18:17 +02:00
Robert Haschke
6f7282423d
MPS: fixup processCollisionObject
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- Declare CollisionObject argument as constant:
Internally the argument is temporarily modified, but for a caller it is effectively const.
- Correctly restore the old operation mode
- Fixup check in unit test
2023-05-26 01:15:50 +02:00
Robert Haschke
3ec69fb59d
Merge PR #460 : improvements to ModifyPlanningScene stage
2023-05-25 22:29:31 +02:00
Robert Haschke
5382338933
Disable MPS tests, failing due to #432
2023-05-25 21:52:07 +02:00
Robert Haschke
78da3e46e6
Gracefully handle NULL robot_trajectory ( #469 )
2023-05-25 17:49:23 +02:00
Robert Haschke
76d293863b
introspection: remove any invalid ROS-name chars from hostname ( #465 )
2023-05-19 08:48:28 +02:00
Robert Haschke
397fc070ea
Fix SolutionBase::fillMessage(): also write start_scene
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This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
2023-05-19 08:43:14 +02:00
Robert Haschke
bd400de184
Fix add/remove object in backward operation
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- addObject() will actually remove the object from scene
- removeObject() is not supported (we would need to know which object to add)
2023-05-19 08:43:12 +02:00
Robert Haschke
1daef934ee
Add python binding for ModifyPlanningScene::removeObject
2023-05-19 08:43:12 +02:00
Robert Haschke
6a01550e8d
ComputeIK: update RobotState before calling setFromIK()
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This became necessary due to https://github.com/ros-planning/moveit/issues/3388 .
2023-05-17 21:01:57 +02:00
Michael Görner
4d2a5714fa
Use pluginlib consistently ( #463 )
2023-05-17 19:55:18 +02:00
VideoSystemsTech
dee73b2dde
Expose argument of PipelinePlanner's constructor to Python ( #462 )
2023-05-16 14:32:17 +02:00
Robert Haschke
d59acdb969
Fix allowCollisions(object, enable_collision)
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Call ACM::setDefaultEntry to also cover objects that are not yet known to the ACM.
2023-05-16 09:43:00 +02:00
Robert Haschke
45ca1a67a9
TestModifyPlanningScene
2023-05-16 09:42:25 +02:00
Robert Haschke
b318c3cae9
Basic Move test: MoveRelative + MoveTo
2023-05-05 00:21:11 +02:00
Robert Haschke
84cb880a9d
Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool)
2023-05-05 00:21:11 +02:00
Robert Haschke
1002d84946
Add python binding for Task::insert
2023-05-04 23:22:49 +02:00
Robert Haschke
d1a6916206
Stage::explainFailure() ( #445 )
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... to facilitate spotting the stage causing a task to fail
2023-05-04 17:07:11 +02:00
Robert Haschke
ede7cb71cc
Improve documentation ( #431 )
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* Improve general description of stage and container types
* Clarify purpose of `CurrentState` stage
* Add troubleshooting section
2023-05-04 17:02:00 +02:00
Robert Haschke
7f10292ab3
JointInterpolationPlanner: pass optional max_effort property along to GripperCommand ( #458 )
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MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.
2023-05-04 15:29:53 +02:00
Robert Haschke
b346e7eb78
Task: findChild() and operator[] should directly operate on stages() ( #435 )
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Considering the (fixed) name of the top-level container is meaningless.
2023-05-04 15:23:23 +02:00
Robert Haschke
f07b81fcd0
cleanup
2023-05-04 14:26:34 +02:00
Robert Haschke
4781ed5636
ros1-0.1.3
2023-03-06 16:37:54 +01:00
Robert Haschke
c57a0bcc12
Fixup: Remove moveit/__init__.py during .deb build
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Fix install path recognition (6671aedeb7 ). Debian install process targets:
/tmp/binarydeb/ros-noetic-moveit-task-constructor-core-<version>/debian/ros-noetic-moveit-task-constructor-core/opt/ros/noetic/lib/python3/dist-packages/moveit
2023-03-06 16:31:59 +01:00
Robert Haschke
75e4260e2a
MoveRelative: Allow backwards operation for joint-space delta ( #436 )
2023-03-06 16:27:09 +01:00
Robert Haschke
61bb2fdc58
ComputeIK: Limit collision checking to JMG ( #428 )
...
That's what MoveIt is doing as well.
2023-02-28 13:18:53 +01:00
Robert Haschke
a3cb8c6584
Fix: Fetch pybind11 submodule if not yet present
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cmake's execute_process pipes COMMANDs together.
Thus, `git submodule update` received the output of `git submodule init` as input
and didn't do anything.
2023-02-28 11:15:05 +01:00
Robert Haschke
ca1c7c7e24
Fix typo
2023-02-28 11:13:24 +01:00
Robert Haschke
d07aece163
ros1-0.1.2
2023-02-24 00:02:47 +01:00
Robert Haschke
6671aedeb7
Remove moveit/__init__.py during .deb builds
2023-02-23 23:55:38 +01:00
Robert Haschke
4a320f309c
Merge PR #429 : MultiPlanner
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MultiPlanner
2023-02-23 20:44:28 +01:00
Robert Haschke
ea776e35f6
Fix marker creation: allow zero scale for geometric shapes ( #430 )
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Boxes, spheres, and cylinders might explicitly have a zero size. Don't reset their scaling to (1,1,1)
2023-02-23 20:42:23 +01:00
Robert Haschke
db6d90ab69
CartesianPath: Deprecate redundant property setters
2023-02-17 22:37:49 +01:00
Robert Haschke
6dc70b1d49
PlannerInterface: provide "timeout" property
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The MultiPlanner requires to set individual timeouts for its planners.
2023-02-17 18:28:02 +01:00
Robert Haschke
573858e51a
PlannerInterface: provide setters for properties
2023-02-17 17:33:06 +01:00
Robert Haschke
052a56a333
Add MultiPlanner solvers
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a planner that tries multiple planners in sequence
2023-02-17 17:33:06 +01:00
Robert Haschke
3d3236575d
JointInterpolation: fix timeout handling
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The timeout parameter was essentially ignored and the check was always true.
2023-02-17 11:41:32 +01:00
Robert Haschke
eae0bdc27f
ros1-0.1.1
2023-02-15 23:20:32 +01:00
Robert Haschke
7926f69e97
Provide ComputeIK.ik_frame as full PoseStamped
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Released MoveIt doesn't (yet) provide a conversion from string to PoseStamped.
2023-02-15 17:05:25 +01:00
Robert Haschke
885ac49ffb
Use MoveIt's roscpp_initialize
2023-02-15 17:05:25 +01:00
Robert Haschke
d95a2fc787
Use MoveIt's libmoveit_python_tools.so
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Drop our own version of that lib and thus resolve a deploy conflict.
2023-02-15 14:30:14 +01:00
Robert Haschke
4b5de15e1b
Remove unused eigen_conversions includes
2023-02-11 13:47:35 +01:00
Robert Haschke
f2d97e524d
Fix odr compiler warning on build farm
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https://build.ros.org/job/Ndev_db__moveit_task_constructor__debian_buster_amd64/3
2023-02-11 13:31:50 +01:00
Robert Haschke
2843459b34
Fix buildfarm errors
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- Add missing package dependencies
- Add author tags to package.xml
2023-02-03 12:24:48 +01:00
Robert Haschke
49b3bd0d56
ros1-0.1.0
2023-02-02 10:02:45 +01:00
Robert Haschke
93b46ef214
GeneratePose: forward registered properties from received solution
2023-01-28 12:01:45 +01:00
Robert Haschke
d9cff5510f
Fix more -Wold-style-cast warnings
2023-01-05 16:24:02 +01:00